Quasi-Proportional-Resonant Controller Based Adaptive Position Observer for Sensorless Control of PMSM Drives Under Low Carrier Ratio

Abstract

The position and speed estimation performance of the sliding mode observer (SMO) for permanent magnet synchronous motor (PMSM) drives under low carrier ratio degrades, due to the inherent chattering and enlarged control delay. To improve estimation performance, this paper proposes a quasi-proportional-resonant (QPR) based adaptive observer to obtain back electromotive force with adaptive harmonics cancellation. In this observer, the QPR controller is employed to eliminate errors between the observed currents and the actual ones in the αβ reference frame, replacing sign function and low pass filter (LPF) of the SMO to cancel the chattering, and harmonics immune performance can also be achieved thanks to frequency selection characteristic of the QPR controller. Besides cancelling the chattering, the proposed observer can also eliminate phase shift produced by the LPF, since the QPR controller is a zero phase-shift amplifier at the resonant frequency. Comparative experiments are carried out in a 3-kW PMSM drive, and the results validate the effectiveness of the proposed adaptive position observer.